Adam Wilcock
test
Dependencies: MODDMA MODSERIAL mbed
Revision 0:2676c97df44e, committed 2015-03-15
- Comitter:
- JonathanAshworth
- Date:
- Sun Mar 15 21:48:23 2015 +0000
- Child:
- 1:ccecc816c5e8
- Commit message:
- Interrupt driven. Passed pre-check testing using a terminal program but now requires pc:mbed testing.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RIT.lib Sun Mar 15 21:48:23 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/wvd_vegt/code/RIT/#64198265f56f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Mar 15 21:48:23 2015 +0000
@@ -0,0 +1,196 @@
+#include "mbed.h"
+#include "main.h"
+#include "RIT.h"
+
+#define TIMEOUT_MESSAGE "MBED detected a timeout - eStop!\n\n\n\n"
+#define USB_BUFFER_SIZE 1024
+
+Serial serial(USBTX, USBRX);
+Timer usbTimer;
+RIT usbRIT(100);
+Flags flags;
+
+char txBuffer[USB_BUFFER_SIZE] = {0};
+char rxBuffer[USB_BUFFER_SIZE] = {0};
+
+int main(void) {
+
+ flags.rxNewData = 0;
+ flags.txSentData = 0;
+ flags.usbTimeout = 0;
+
+ serial.baud(115200);
+
+ //NVIC_SetPriority(TIMER3_IRQn, 1);//priority 1
+ //NVIC_SetPriority(USB_IRQn, 2);//priority 2
+
+ NVIC_SetPriority( NonMaskableInt_IRQn, 100 );
+ NVIC_SetPriority(MemoryManagement_IRQn, 100);
+
+ NVIC_SetPriority(BusFault_IRQn, 100);
+ NVIC_SetPriority(UsageFault_IRQn, 100);
+ NVIC_SetPriority(SVCall_IRQn, 100);
+ NVIC_SetPriority(DebugMonitor_IRQn, 100);
+ NVIC_SetPriority(PendSV_IRQn, 100);
+ NVIC_SetPriority(SysTick_IRQn, 50);
+ NVIC_SetPriority(WDT_IRQn, 100);
+ NVIC_SetPriority(TIMER0_IRQn, 85);
+ NVIC_SetPriority(TIMER1_IRQn, 85);
+ NVIC_SetPriority(TIMER2_IRQn, 85);
+ NVIC_SetPriority(TIMER3_IRQn, 85);
+ NVIC_SetPriority(UART0_IRQn, 100);
+ NVIC_SetPriority(UART1_IRQn, 100);
+ NVIC_SetPriority(UART2_IRQn, 100);
+ NVIC_SetPriority(UART3_IRQn, 100);
+
+ NVIC_SetPriority(PWM1_IRQn, 100);
+ NVIC_SetPriority(I2C0_IRQn, 100);
+ NVIC_SetPriority(I2C1_IRQn, 100);
+ NVIC_SetPriority(I2C2_IRQn, 100);
+ NVIC_SetPriority(SPI_IRQn, 100);
+ NVIC_SetPriority(SSP0_IRQn, 100);
+ NVIC_SetPriority(SSP1_IRQn, 100);
+ NVIC_SetPriority(PLL0_IRQn, 100);
+ NVIC_SetPriority(RTC_IRQn, 100);
+ NVIC_SetPriority(EINT0_IRQn, 100);
+ NVIC_SetPriority(EINT1_IRQn, 100);
+
+ NVIC_SetPriority(EINT2_IRQn, 100);
+ NVIC_SetPriority(EINT3_IRQn, 100);
+ NVIC_SetPriority(ADC_IRQn, 100);
+ NVIC_SetPriority(BOD_IRQn, 100);
+ NVIC_SetPriority(USB_IRQn, 100);
+ NVIC_SetPriority(CAN_IRQn, 100);
+ NVIC_SetPriority(DMA_IRQn, 100);
+
+ NVIC_SetPriority(I2S_IRQn, 100);
+ NVIC_SetPriority(ENET_IRQn, 100);
+ NVIC_SetPriority(RIT_IRQn, 1);
+ NVIC_SetPriority(MCPWM_IRQn, 100);
+ NVIC_SetPriority(QEI_IRQn, 100);
+ NVIC_SetPriority(PLL1_IRQn, 100);
+
+ serial.attach(&serialRx_ISR, Serial::RxIrq);
+ usbRIT.append(&usbTimer_ISR);
+ usbRIT.disable();
+
+ char responseData[USB_BUFFER_SIZE] = {0};
+ char requestData[USB_BUFFER_SIZE] = {0};
+
+ //LPC_TIMER3->;
+
+ //setup ISRs
+
+ while(1) {
+ if (flags.usbTimeout) {
+ usbTimeout();
+ }
+ if (flags.rxNewData) {
+ memcpy(requestData, rxBuffer, USB_BUFFER_SIZE); //requestData = rxBuffer;
+ memset(rxBuffer, 0, USB_BUFFER_SIZE); //reset rx buffer
+
+ //deconstruct and validate request
+
+ //construct response:
+ memcpy(responseData, requestData, USB_BUFFER_SIZE); //just echo request back for now
+
+ memcpy(txBuffer, responseData, USB_BUFFER_SIZE); //txBuffer = responseData;
+
+ serialTx();
+
+ flags.rxNewData = 0;
+ }
+ }
+}
+
+void serialTx (void) {
+__disable_irq();
+ char buffPntr;
+ bool terminated = 0;
+ for(buffPntr=0; buffPntr<4; buffPntr++) {
+ serial.putc(txBuffer[buffPntr]);
+ }
+ while ((!terminated)&&(buffPntr != USB_BUFFER_SIZE-1)) {
+ if ((txBuffer[buffPntr-3] == 0x0A)&&(txBuffer[buffPntr-2] == 0x0A)&&(txBuffer[buffPntr-1] == 0x0A)&&(txBuffer[buffPntr] == 0x0A)) {
+ terminated = 1;
+ }
+ else {
+ serial.putc(txBuffer[buffPntr]);
+ }
+ buffPntr++;
+ }
+ //send data from tx buffer
+ memset(txBuffer, 0, USB_BUFFER_SIZE); //reset tx buffer
+ flags.txSentData = 1;
+__enable_irq();
+}
+
+void usbTimeout(void) {
+ memcpy(txBuffer, TIMEOUT_MESSAGE, USB_BUFFER_SIZE); //send eStop over usb serial
+ serialTx();
+ shutdown();
+__disable_irq();
+ while(1) {;} //remain here until hardware reset
+}
+
+void shutdown(void) {
+ //turn off each peripheral safely
+}
+
+
+/**************** ISRs ****************/
+
+void serialRx_ISR(void) {
+ char buffPntr = 0;
+ bool terminated = 0;
+
+ usbRIT.disable();
+ usbTimer.stop();
+ usbTimer.reset();
+ usbTimer.start();
+ usbRIT.enable();
+ if (!flags.rxNewData) { //prevent too short windows
+ while ((buffPntr != USB_BUFFER_SIZE-1)&&(!flags.usbTimeout)) {
+ if (buffPntr >= 3) {
+ if ((rxBuffer[buffPntr-3] == 0x0A)&&(rxBuffer[buffPntr-2] == 0x0A)&&(rxBuffer[buffPntr-1] == 0x0A)&&(rxBuffer[buffPntr] == 0x0A)) {
+ terminated = 1;
+ }
+ }
+ if (!terminated) {
+ while((!serial.readable())&&(!flags.usbTimeout)) {;}
+ if (serial.readable()) {
+ rxBuffer[buffPntr] = serial.getc();//whenDataReady, insert into rx buffer
+ }
+ }
+ else {
+ rxBuffer[buffPntr] = 0;
+ }
+ buffPntr++;
+ }
+ if (!terminated) {
+ flags.usbTimeout = 1; //no valid termination seen
+ }
+ else {
+ flags.rxNewData = 1;
+ }
+ }
+ else {
+ flags.usbTimeout = 1; //received another window too early
+ }
+ flags.rxNewData = 1;
+}
+
+void usbTimer_ISR(void) {
+ usbRIT.disable();
+ usbTimer.stop();
+ if ((flags.rxNewData) && (flags.txSentData)) {
+ usbTimer.reset();
+ usbTimer.start();
+ usbRIT.enable();
+ flags.rxNewData = 0;
+ flags.txSentData = 0;
+ }
+ else {
+ flags.usbTimeout = 1;
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.h Sun Mar 15 21:48:23 2015 +0000
@@ -0,0 +1,12 @@
+struct Flags
+{
+ bool rxNewData;
+ bool txSentData;
+ bool usbTimeout;
+};
+
+void serialTx (void);
+void usbTimeout(void);
+void shutdown(void);
+void serialRx_ISR(void);
+void usbTimer_ISR(void);
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sun Mar 15 21:48:23 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/7e07b6fb45cf \ No newline at end of file